/******************************************************************************
* Copyright Authors DustinKsi@ Youibot 2019. All Rights Reserved.
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*****************************************************************************/

#pragma once

// #include "venus/extraction/extraction_factory.h"
#include "venus/extraction/interface/abstract_extraction.h"

#include <queue>
#include <vector>
#include <functional>
#include <algorithm>

using std::vector;
using std::priority_queue;
using std::greater;

namespace VEnus {
namespace Extraction {

class IntensityExtraction : public AbstractExtraction {
 public:
  bool Extract(VEnus::Sensor::IntensityRange2D &cloud, VEnus::Sensor::IntensityRange2D &candidate_cloud);
  
  ~IntensityExtraction() { CLASS_LOG(IntensityExtraction) << "released!!"; }

 private:
  friend class ExtractionFactory;
  IntensityExtraction() { CLASS_LOG(IntensityExtraction) << "built!!"; }
};

}  // namespace VEnus
}  // namespace Extraction
